Journal of Shandong University(Engineering Science) ›› 2019, Vol. 49 ›› Issue (1): 55-65.doi: 10.6040/j.issn.1672-3961.0.2018.301

• Control Science & Engineering • Previous Articles     Next Articles

Design for autonomous charging system of family companion robot

Fengyu ZHOU(),Fang WAN*(),Jiancheng JIAO,Junjian BIAN   

  1. School of Control Science and Engineering, Shandong University, Jinan 250061, Shandong, China
  • Received:2018-08-15 Online:2019-02-20 Published:2019-03-01
  • Contact: Fang WAN E-mail:zhoufengyu@sdu.edu.cn;wfcola@gmail.com
  • Supported by:
    国家重点研发计划项目(2017YFB1302400);国家自然科学基金项目(617732400);山东省重大科技创新工程项目(2017CXGC0926);山东省重点研发计划(公益类专项)项目(2017GGX30133)

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Abstract:

To address the limited battery capacity and discontinuous work ring of the family companion robot, a based autonomous charging and docking system was designed for the family companion robot using ROS. The Calman filtering algorithm is used to fuse the encoder data and IMU data. Meanwhile, the environment 2D grid map was constructed by the laser ranger data combined with the Rao-Blackwellized particle filter SLAM algorithm. The global path planning and the local path planning were carried out with the A* approach and the DWA algorithm to control robot reach the neighborhood of the charging station.The dual priority based infrared navigation and docking algorithm was used to guide the robot to the charging station to accurately docking with the charging station. The experimental results showed that the proposed system effectively solved the problem of limited charging distance compared with the traditional method, and had high docking efficiency, success rate, accuracy and generalization ability. Therefore, the system fully satisfied the charge demand of the family companion robot, which could be widely used to address real-world problems.

Key words: autonomous charging, remote docking, short range docking, SLAM, path planning

CLC Number: 

  • TP273

Fig.1

The overall structure of autonomous charging system"

Fig.2

Framework of hardware of autonomous charging system"

Fig.3

Flow chart of A* algorithm"

Fig.4

Searching velocity vector space using DWA algorithm"

Fig.5

Admissible speed in dynamic window"

Fig.6

The schematic diagram of the infrared signal emission range of a charging station"

Fig.7

The receiving range of the infrared receiverhead of a robot"

Fig.8

Infrared navigation docking schematic"

Table 1

Rough docking algorithm for infrared navigation"

第三红外接收头(IR3) 第四红外接收头(IR4) 执行策略
A1区域信号 A1区域信号 原地左转/原地右转
A1区域信号 A2A3A4区域信号 原地右转
A2A3A4区域信号 A1区域信号 原地左转
A2区域信号 A2区域信号 原地右转
A3区域信号 A3区域信号 原地左转
A2区域信号 A3区域信号 直行后退
A3区域信号 A2区域信号 直行前进
A2区域信号 A4区域信号 右后转
A4区域信号 A3区域信号 左后转
A4区域信号 A2区域信号 左后转(大角度)
A3区域信号 A4区域信号 右后转(大角度)
A4区域信号 A4区域信号 螺旋式搜索/漫游搜索

Table 2

An algorithm for accurate docking ofinfrared navigation"

第一红外接收头(IR1) 第二红外接收头(IR2) 执行策略
A1区域信号 A1区域信号 直行后退
A1区域信号 A2A3A4区域信号 右后转
A2A3A4区域信号 A1区域信号 左后转
A2区域信号 A2区域信号 右后转(角度稍大)
A3区域信号 A3区域信号 左后转(角度稍大)
A2区域信号 A3区域信号 直行后退
A3区域信号 A2区域信号 直行后退
A2区域信号 A4区域信号 右后转
A4区域信号 A3区域信号 左后转
A4区域信号 A2区域信号 直行后退
A3区域信号 A4区域信号 直行后退
A4区域信号 A4区域信号 无效,转入粗略对接

Fig.9

Strategy in non-signal region"

Fig.10

Blind area for autonomous charging and docking"

Fig.11

A schematic diagram of the distribution ofultrasonic sensors in the blind area"

Fig.12

The strategy of independent charging and docking blind area"

Fig.13

Membership function of input and output"

Table 3

Fuzzy control rule table"

序号 输入 输出
LBD BD RBD ppose vi vo ω
1 NEAR FAR FAR LEFT SLOW NORMAL TRL
2 NEAR FAR FAR LEFT NORMAL NORMAL TRL
3 NEAR FAR FAR LEFT FAST SLOW TR
4 NEAR FAR FAR BACK SLOW NORMAL TRL
5 NEAR FAR FAR BACK NORMAL NORMAL TRL
6 NEAR FAR FAR BACK FAST SLOW TR
7 NEAR FAR FAR RIGHT SLOW NORMAL TR
8 NEAR FAR FAR RIGHT NORMAL NORMAL TR
9 NEAR FAR FAR RIGHT FAST SLOW TR

Fig.14

2D maps and real environment of Laboratory"

Fig.15

2D map and real environment in the corridor ofthe corridor"

Fig.16

2D map and real environment in the interior hall"

Fig.17

Remote docking phase of autonomous charging"

Fig.18

Accuracy statistics of remote docking"

Fig.19

Grid division of the experiment area"

Table 4

Statistics of time consuming for robots at different poses"

位姿 时间/s
偏差距离 初始姿态/(°) 1 m 2 m 3 m 4 m 5 m 6 m 7 m
0 5 10 15 20 25 30 35
90 17 9 14 19 23 29 33
同轴 180 39 17 18 23 29 30 42
270 16 10 14 18 24 29 33
0 5 9 13 19 24 29 34
90 16 11 15 19 25 31 40
偏右0.5 m 180 12 16 20 24 29 30 40
270 17 12 14 20 24 31 43
0 25 10 14 18 24 29 34
90 28 13 16 20 25 31 35
偏右1.0 m 180 33 18 23 26 32 35 40
270 27 12 16 21 26 31 33
0 5 9 14 18 23 28 35
90 17 12 17 21 24 32 41
偏左0.5 m 180 10 15 19 24 29 34 40
270 17 12 16 18 25 30 40
0 25 10 14 18 23 28 33
90° 27 12 17 21 25 30 34
偏左1.0 m 180 33 18 23 26 33 35 40
270 28 13 15 20 25 32 40

Fig.20

Accuracy statistics of charge docking"

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